Did someone already use a contact sensor in the NRP or knows an experiment with an example?
I already added the sensor to my robot, can stream the data via "gz topic -e "/gazebo/default/robot/base_link/my_contact" and set a topic in my model.sdf. But I can't see it with "rostopic list", so I think that my sensor plugin is not working.
How can I find the needed argument/attributes to get it into the TF?

I added contact sensors to all 5 parts of the husky robot (base and 4 wheels) into the .sdf file, with the following code:

I made sure every contact sensor's name is unique, aswell as the bumperTopicName.However, when trying to ask the values of the sensors within a transfer function as suggested in the other forum post above:

it always prints me "None", even if there is contact between two objects. The collisions happen between spawned boxes, and the husky robot, but the sensor values do not change.Where is my mistake? Do i have to change the bumperTopicName, or is there something else i missed?